OKMC Mar12 * SG176 * Dive index * Mission links
version: 66.10
glider: 176
mission: 5
dive: 301
start: 5 12 112 23 48 25
data:
$ID,176
$MISSION,5
$DIVE,301
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7918.0312
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,120512,234101,1929.885,12251.070,36,1.9,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.8
$GPS2,120512,234756,1930.011,12250.997,14,1.1,14,-2.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,87.7,175663,-13.2,-8.250
$D_GRID,4776
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-170.3,0.0,0.0,0,65,0.00,0.00,-46.28,0.000,2,0.000,0.000,185,2639,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.54,-170.3,3.2,-7.4,8,112,8.62,1.75,-25.98,0.000,4,0.231,0.067,2334,3769,3625,0,0,0,0,0,0,25.27,26.13,26.66
$GC,219,-0.54,-170.3,54.3,-29.2,33,226,0.00,1.73,0.00,0.000,6,0.000,0.023,2334,2514,3625,0,0,0,0,0,0,28.83,26.46,28.83
$GC,531,-0.54,-170.3,154.8,-29.5,94,538,0.00,1.92,0.00,0.000,4,0.000,0.026,2334,1138,3625,0,0,0,0,0,0,28.83,26.47,28.83
$GC,559,-0.54,-170.3,161.9,-24.8,99,568,0.10,2.25,0.00,0.000,6,0.173,0.046,2349,2628,3625,0,0,0,0,0,0,26.13,26.32,28.83
$GC,878,-0.54,-170.3,221.9,-17.1,149,887,0.05,2.12,0.00,0.000,4,0.177,0.024,2298,1139,3625,0,0,0,0,0,0,26.67,26.48,28.83
$GC,920,-0.54,-170.3,229.1,-17.0,153,929,0.17,2.25,0.00,0.000,6,0.146,0.046,2345,2627,3626,0,0,0,0,0,0,26.08,26.34,28.83
$GC,1230,-0.54,-170.3,278.5,-17.3,184,1233,0.00,1.70,0.00,0.000,4,0.000,0.052,2337,3767,3626,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1263,-0.54,-170.3,284.2,-18.3,187,1271,0.00,1.73,0.00,0.000,6,0.000,0.022,2337,2514,3626,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1571,-0.54,-170.3,335.9,-13.9,218,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2512,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-0.54,-170.3,376.1,-12.0,248,1881,0.00,1.95,0.00,0.000,4,0.000,0.026,2338,1134,3624,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1925,-0.54,-170.3,381.6,-10.0,253,1934,0.00,2.22,0.00,0.000,6,0.000,0.045,2335,2618,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2234,-0.54,-170.3,414.9,-10.0,284,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2618,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-0.54,-170.3,451.5,-13.3,314,2539,0.00,2.12,0.00,0.000,4,0.000,0.025,2336,1132,3620,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2571,-0.54,-170.3,455.7,-13.0,317,2578,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2627,3620,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2877,-0.54,-170.3,495.8,-12.1,348,2886,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1144,3618,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2931,-0.54,-170.3,501.5,-10.8,353,2938,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2627,3617,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3239,-0.54,-170.3,532.9,-9.0,384,3242,0.00,1.70,0.00,0.000,4,0.000,0.054,2331,3770,3615,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3282,-0.54,-170.3,536.5,-8.7,388,3290,0.03,1.75,0.00,0.000,6,0.164,0.023,2347,2482,3615,0,0,0,0,0,0,26.44,26.63,28.83
$GC,3591,-0.54,-170.3,558.2,-6.9,419,3600,0.00,1.98,0.00,0.000,4,0.000,0.052,2340,3785,3613,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3635,-0.54,-170.3,561.6,-7.9,423,3644,0.00,1.77,0.00,0.000,6,0.000,0.024,2339,2494,3612,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3943,-0.54,-170.3,583.1,-6.9,454,3952,0.00,1.92,0.00,0.000,4,0.000,0.027,2339,1143,3610,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3966,-0.54,-170.3,584.7,-7.1,456,3974,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2618,3610,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4275,-0.54,-170.3,612.1,-9.3,481,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2618,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.54,-170.3,640.8,-9.4,496,4581,0.00,2.10,0.00,0.000,4,0.000,0.025,2335,1151,3604,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4622,-0.54,-170.3,644.4,-9.2,498,4626,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2626,3604,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4929,-0.54,-170.3,671.9,-8.6,513,4933,0.00,1.75,0.00,0.000,4,0.000,0.057,2334,3763,3601,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4954,-0.54,-170.3,673.6,-8.5,514,4957,0.00,1.70,0.00,0.000,6,0.000,0.024,2334,2496,3600,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5270,-0.54,-170.3,701.0,-8.3,530,5274,0.00,2.00,0.00,0.000,4,0.000,0.055,2327,3765,3599,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5313,-0.54,-170.3,704.6,-8.5,532,5317,0.08,1.73,0.00,0.000,6,0.169,0.023,2351,2486,3598,0,0,0,0,0,0,26.36,26.61,28.83
$GC,5637,-0.54,-170.3,724.4,-5.6,548,5643,0.08,2.00,0.00,0.000,4,0.129,0.054,2291,3767,3596,0,0,0,0,0,0,26.62,26.09,28.83
$GC,5664,-0.54,-170.3,725.7,-5.7,549,5669,0.17,1.75,0.00,0.000,6,0.129,0.024,2349,2484,3595,0,0,0,0,0,0,26.15,26.58,28.83
$GC,5973,-0.54,-170.3,745.5,-6.5,564,5978,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3778,3593,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6011,-0.54,-170.3,748.5,-7.0,566,6014,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2507,3593,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6333,-0.54,-170.3,777.8,-10.0,582,6339,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3760,3591,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6395,-0.54,-170.3,784.0,-10.4,585,6399,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2504,3590,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6712,-0.54,-170.3,821.0,-11.7,601,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2474,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,-0.54,-170.3,854.4,-10.5,616,7018,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3769,3587,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7053,-0.54,-170.3,858.5,-10.2,618,7056,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2501,3586,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7374,-0.54,-170.3,885.4,-7.5,634,7379,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3764,3585,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7429,-0.54,-170.3,888.5,-7.5,636,7436,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2456,3585,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7735,-0.54,-170.3,911.0,-6.7,652,7740,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3766,3582,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7782,-0.54,-170.3,913.8,-6.9,654,7785,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2500,3583,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8095,-0.54,-170.3,933.1,-5.7,670,8099,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3771,3582,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8139,-0.54,-170.3,935.4,-5.5,672,8143,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2508,3581,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8457,-0.54,-170.3,952.6,-5.4,688,8461,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3764,3580,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8503,-0.54,-170.3,954.8,-5.3,690,8507,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2504,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8819,-0.54,-170.3,973.4,-5.8,706,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2462,3579,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9117,begin apogee
$GC,9124,-0.17,0.0,990.6,-5.7,721,9275,0.32,0.10,144.82,1.724,6,0.100,0.077,2465,2444,2928,0,0,0,0,0,0,26.05,24.24,22.65
$STATE,9276,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9278,0.54,170.3,996.3,0.0,728,9457,0.62,2.30,164.98,1.678,4,0.049,0.031,2717,1063,2233,0,0,0,0,0,0,24.52,23.84,22.18
$GC,9473,0.54,170.3,988.8,10.6,737,9481,0.15,2.42,0.00,0.000,6,0.170,0.047,2682,2516,2229,0,0,0,0,0,0,24.18,24.39,28.83
$GC,9782,0.54,170.3,948.8,12.2,753,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2516,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,0.54,170.3,911.8,12.3,768,10085,0.00,1.95,0.00,0.000,4,0.000,0.058,2682,3772,2222,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10160,0.54,170.3,899.2,15.8,772,10163,0.00,1.92,0.00,0.000,6,0.000,0.026,2691,2454,2221,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10477,0.54,170.3,850.7,15.6,788,10482,0.00,2.05,0.00,0.000,4,0.000,0.055,2691,3776,2219,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10605,0.54,170.3,828.9,18.4,794,10609,0.10,1.92,0.00,0.000,6,0.211,0.024,2678,2444,2219,0,0,0,0,0,0,26.03,26.41,28.83
$GC,10912,0.54,170.3,786.2,12.1,809,10917,0.00,2.00,0.00,0.000,4,0.000,0.030,2688,1054,2218,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10945,0.54,170.3,784.0,11.8,810,10952,0.00,2.25,0.00,0.000,6,0.000,0.047,2688,2518,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11253,0.54,170.3,750.1,9.9,826,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2519,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11553,0.54,170.3,722.8,8.7,841,11559,0.00,2.15,0.00,0.000,4,0.000,0.031,2699,1051,2216,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11600,0.54,170.3,719.4,8.4,843,11605,0.08,2.25,0.00,0.000,6,0.195,0.047,2683,2522,2215,0,0,0,0,0,0,26.06,26.19,28.83
$GC,11913,0.54,170.3,690.6,9.7,859,11919,0.00,2.15,0.00,0.000,4,0.000,0.030,2694,1053,2215,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11935,0.54,170.3,688.7,9.7,860,11940,0.03,2.28,0.00,0.000,6,0.272,0.045,2683,2527,2215,0,0,0,0,0,0,26.13,26.18,28.83
$GC,12247,0.54,170.3,657.3,9.8,876,12253,0.00,1.90,0.00,0.000,4,0.000,0.055,2683,3770,2215,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12271,0.54,170.3,655.3,9.7,877,12275,0.00,1.90,0.00,0.000,6,0.000,0.021,2692,2436,2215,0,0,0,0,0,0,28.83,26.47,28.83
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$GC,16128,0.61,225.1,251.7,8.6,1234,16137,0.00,1.88,0.00,0.000,4,0.000,0.050,2706,3767,2008,0,0,0,0,0,0,28.83,26.12,28.83
$GC,16159,0.61,225.1,247.9,10.0,1237,16169,0.05,1.90,0.00,0.000,6,0.237,0.023,2703,2427,2008,0,0,0,0,0,0,26.25,26.45,28.83
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$STATE,18873,end climb,SURFACE_DEPTH_REACHED
$STATE,18873,begin surface coast
$FINISH,0.7,1.008356
$STATE,18912,end surface coast,CONTROL_FINISHED_OK
$STATE,18912,begin surface
$SM_CCo,18987,0.00,0.000,0,0,696,547.75
$SM_GC,1.32,6.47,0.12,0.00,0.030,0.096,0.000,191,2642,696,-7.15,-0.62,547.75,0,0,0,0,0,0,26.37,26.48,28.83
$IRIDIUM_FIX,1920.65,12248.78,120512,181809
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.2,62.751
$10V_AH,9.9,38.451
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.450,176.700,512.725,0.000,0.000,32.600,19.101,216.705,0.000,0.000,16.655,4261.468,10645.555,666.195,3386.429,418.787,0.000,2269.281,0.000,2868.190,0.000,0.543,0.000
$DEVICE_MAMPS,272.340,107.865,1724.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.568,2230.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,127367,1700
$CAP_FILE_SIZE,202479,0
$CFSIZE,260165632,193040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,299.0,1
$GPS,130512,050601,1930.910,12252.210,39,2.0,39,-2.3